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cs.RO2025
MonoMPC: Monocular Vision Based Navigation with Learned Collision Model and Risk-Aware Model Predictive Control
Basant Sharma, Prajyot Jadhav, Pranjal Paul +2
Navigating unknown environments with a single RGB camera is challenging, as the lack of depth information prevents reliable collision-checking. While some methods use estimated dep…
cs.RO2025
SparseLoc: Sparse Open-Set Landmark-based Global Localization for Autonomous Navigation
Pranjal Paul, Vineeth Bhat, Tejas Salian +4
Global localization is a critical problem in autonomous navigation, enabling precise positioning without reliance on GPS. Modern global localization techniques often depend on dens…
cs.RO2024
LeGo-Drive: Language-enhanced Goal-oriented Closed-Loop End-to-End Autonomous Driving
Pranjal Paul, Anant Garg, Tushar Choudhary +2
Existing Vision-Language models (VLMs) estimate either long-term trajectory waypoints or a set of control actions as a reactive solution for closed-loop planning based on their ric…